Robot

Abstract

A robot includes a base, a first arm coupled to the base so as to be rotatable about a first rotation axis along a horizontal direction, a second arm includes the proximal end portion being coupled to the first arm so as to be rotatable about a second rotation axis, which is parallel to the first rotation axis, a first drive source including a first output shaft for outputting rotational force for rotationally driving the first arm, a second drive source including a second output shaft for outputting rotational force for rotationally driving the second arm, and a linkage mechanism that is coupled to a distal end side of the first arm via a plurality of links with a proximal end side of the first arm as a starting point and that transmits rotational force generated by the second drive source to the second arm, wherein when viewed from the vertical direction, the first rotation axis is located between the distal end portion of the second arm and at least one of a centroid G1 of the first drive source or a centroid G2 of the second drive source.

What is claimed is: 
     
         1 . A robot comprising:
 a base;   a first arm coupled to the base so as to be rotatable about a first rotation axis along a horizontal direction;   a second arm including a distal end portion and a proximal end portion, the proximal end portion being coupled to the first arm so as to be rotatable about a second rotation axis, which is parallel to the first rotation axis;   a first drive source including a first output shaft for outputting rotational force for rotationally driving the first arm;   a second drive source including a second output shaft for outputting rotational force for rotationally driving the second arm; and   a linkage mechanism that is coupled to a distal end side of the first arm via a plurality of links with a proximal end side of the first arm as a starting point and that transmits rotational force generated by the second drive source to the second arm, wherein   when viewed from the vertical direction, the first rotation axis is located between the distal end portion of the second arm and at least one of a centroid G 1  of the first drive source or a centroid G 2  of the second drive source.   
     
     
         2 . The robot according to  claim 1 , wherein
 the linkage mechanism includes
 a first link, 
 a second link, 
 a third link, 
 a first joint rotatably coupling together the first arm and the first link, 
 a second joint rotatably coupling together the first link and the second link, 
 a third joint rotatably coupling together the second link and the third link, and 
 a fourth joint rotatably coupling together the third link and the first arm. 
   
     
     
         3 . The robot according to  claim 2 , wherein
 the second drive source is fixed to the first link,   the second output shaft is fixed to the second link, and   the second joint includes
 the second output shaft and 
 a first insertion hole that is formed in the first link and through which the second output shaft is rotatably inserted. 
   
     
     
         4 . The robot according to  claim 1 , wherein
 when viewed from the vertical direction, a central axis of the second arm is located between the first drive source and the second drive source.   
     
     
         5 . The robot according to  claim 2 , wherein
 the second drive source is fixed to the second link,   the second output shaft is fixed to the first link, and   the second joint includes the second output shaft and a second insertion hole formed in the second link and through which the second output shaft is rotatably inserted.   
     
     
         6 . The robot according to  claim 1 , wherein
 the first rotation axis is located between the distal end portion of the second arm and both the centroid G 1  and the centroid G 2 .